Finite‐time formation control of multiagent systems via dynamic output feedback

Du, Haibo; Li, Shihua; Lin, Xiangze

doi:10.1002/rnc.2849

Cited by 87 publications

(43 citation statements)

References 47 publications

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“…For any given finite settling time T , if T 1 + T 2 ≤ T , the distributed finite time control laws u 1i , u 2i , 1 ≤ i ≤ n in the form of Theorem 3.1 solve the finite consensus problem for system (5). If T 1 + T 2 > T , we will employ a time-rescaling technique to reconstruct a distributed finite-time controller to make all the agents reach consensus with agent kinematics (5) within a modified settling time…”

Section: Consensus Within Any Given Finite Settling Timementioning

confidence: 99%

See 1 more Smart Citation

Finite-time consensus problem for multiple non-holonomic mobile agents

Wang

Qiu

Zhang

et al. 2012

Proceedings of the 10th World Congress on Intelligent Control and Automation

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Section: Consensus Within Any Given Finite Settling Timementioning

confidence: 99%

“…Compared with this, finite time control can provide better disturbances-rejection, fast response and tracking precision [1,2,9,12]. Finite-time stabilizing control has been studied and several finite-time consensus algorithms have been obtained in the references such as [4,5,6,13,17], just to name a few.…”

Section: Introductionmentioning

confidence: 99%

Finite-time consensus problem for multiple non-holonomic mobile agents

Wang

Qiu

Zhang

et al. 2012

Proceedings of the 10th World Congress on Intelligent Control and Automation

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“…The basic task for formation control of multiagent systems is to drive the states or outputs of all the agents to form the desired configuration in the state or output space. The control strategies in the vast majority of the published studies can be roughly categorized into leader follower, virtual structure, behavior, consensus, rigid graph, and Laplacian‐based ones . The leader follower, virtual structure, and behavior‐based strategies have been studied extensively in the robotics community .…”

Section: Introductionmentioning

confidence: 99%

On time‐varying formation feasibility and reference function of time‐delayed linear multiagent systems with switching digraphs

Dong

Hua

et al. 2019

Intl J Robust & Nonlinear

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Summary Time‐varying formation feasibility and formation reference function of linear multiagent systems with both time‐varying delays and switching directed topologies are studied. For a given linear multiagent system, not all the time‐varying formations can be realized due to the dynamic restriction of each agent. The formation feasibility constraint reveals the requirement on the desired time‐varying formation to be compatible with the agent dynamics. Formation reference is a representation for the macroscopic movement of the whole multiagent system. Novel features of the formation feasibility constraint and the formation reference are the main focus of this paper. Firstly, a time‐delayed formation control protocol with switching directed topologies is constructed using local neighboring information. Then, a time‐varying formation feasibility constraint is derived based on nonsingular transformations. It is proven that the time‐varying formation feasibility constraint is independent of the time‐varying delays and the switching directed topologies. Moreover, an explicit expression of the formation reference function is proposed. It is shown that neither the time‐varying delays nor the switching directed topologies has influence on the obtained formation reference function. Finally, comparative examples are provided to demonstrate the obtained results.

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“… presented sufficient conditions for first‐order multi‐agent systems to achieve circular formations. Finite‐time formation control problems for second‐order multi‐agent systems were investigated via dynamic output feedback approaches in . Sufficient conditions for second‐order multi‐agent systems on nonlinear manifolds to achieve formations were derived in .…”

Section: Introductionmentioning

confidence: 99%

Time-varying output formation control for linear multi-agent systems with switching topologies

Dong

Sun

2016

Int. J. Robust. Nonlinear Control

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Summary Time‐varying output formation control problems for linear multi‐agent systems with switching topologies are studied, where two types of switching topologies are considered: (1) the topology is undirected and jointly connected, and 2) each topology is directed and has a spanning tree. An output formation protocol under switching topologies is constructed using the outputs of neighboring agents via dynamic output feedback. Two algorithms are proposed to design the dynamic protocols under both jointly connected topologies and switching directed topologies. Time‐varying output formation feasibility conditions are given to describe the compatible relationship among the desired time‐varying output formation, the dynamics of each agent, and the switching topologies. The stability of the closed‐loop multi‐agent systems under the proposed two algorithms is investigated based on the common Lyapunov functional theory and the piecewise Lyapunov functional theory, respectively. In the case where the topologies are jointly connected, time‐varying output formation can be achieved for multi‐agent systems using the designed protocol if the given time‐varying output formation satisfies the feasible constraint. For the case where the switching topologies are directed and have a spanning tree, the time‐varying output formation can be realized if the output formation feasibility constraint is satisfied and the dwell time is larger than a positive threshold. Moreover, approaches to determine the output formation references are provided to describe the macroscopic movement of the time‐varying output formation. Finally, numerical simulation results are presented to demonstrate the effectiveness of the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.

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Finite‐time formation control of multiagent systems via dynamic output feedback

Cited by 87 publications

References 47 publications

Finite-time consensus problem for multiple non-holonomic mobile agents

Finite-time consensus problem for multiple non-holonomic mobile agents

On time‐varying formation feasibility and reference function of time‐delayed linear multiagent systems with switching digraphs

Time-varying output formation control for linear multi-agent systems with switching topologies

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